Sync with FPS head. Mon May 8 10:40:14 EST 2006 Don Stewart <dons@cse.unsw.edu.au> Mon May 8 16:09:41 EST 2006 Don Stewart <dons@cse.unsw.edu.au> Mon May 8 17:36:07 EST 2006 Don Stewart <dons@cse.unsw.edu.au> Mon May 8 17:50:13 EST 2006 Don Stewart <dons@cse.unsw.edu.au>